The Cable Force Optimization And Motion Control Of Cable-driven Parallel Robot

Recently,the technology of the cable-driven parallel robot is developing rapidly as a new type of parallel mechanism.The robot,which is based on the cable as the driving element,is the traction end of the actuator to achieve positioning function.So the force distribution of the cables directly affects the accuracy and stability of the control of the robot.Therefore,in order to realize the stability control of the robot at the end of the robot in the specific trajectory and motion state,three kinds of force optimization methods are proposed.Firstly,two kinds of cable-driven parallel robot models,such as the four-cables three-DOF(three-degree-of-freedom)parallel robot and the eight-cable 6-DOF parallel robot,are taken as the research object.And the kinematics of the two kinds of robots are analyzed respectively.Then,under the premise of analyzing the mechanical balance and cable-force distribution,three kinds of cable-force optimization algorithms are used: the OS ten cable-force sion optimization algorithm,the 3DT cable-force optimization algorithm and the MID cable-force optimization algorithm,which solves the cable-force distribution due to the redundancy characteristics of the flexible para llel robot Not the only problem.And combined with the speed planning and trajectory planning results of the end effector,the cable-force optimization algorithm in motion control is studied and verified its feasibility and stability.For the four-cables three-DOF parallel robots,these algorithms are based on the dynamic balance and experimentally verified on the solid prototype platform,And the experimental data are compared with th e simulated data;However,for the eight-cables six-DOF parallel robots,the algorithm analysis is based on the principle of static balance,And the feasibility of the above three cable optimization algorithms is verified on the MATLAB software platform.